86 lines
2.5 KiB
C
86 lines
2.5 KiB
C
#ifndef IDLE_H
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#define IDLE_H
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#include "globals.h"
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#include "table.h"
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#define IAC_ALGORITHM_NONE 0
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#define IAC_ALGORITHM_ONOFF 1
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#define IAC_ALGORITHM_PWM_OL 2
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#define IAC_ALGORITHM_PWM_CL 3
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#define IAC_ALGORITHM_STEP_OL 4
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#define IAC_ALGORITHM_STEP_CL 5
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#define STEPPER_FORWARD 0
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#define STEPPER_BACKWARD 1
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#define IDLE_TABLE_SIZE 10
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enum StepperStatus {SOFF, STEPPING, COOLING}; //The 2 statuses that a stepper can have. STEPPING means that a high pulse is currently being sent and will need to be turned off at some point.
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struct StepperIdle
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{
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int curIdleStep; //Tracks the current location of the stepper
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int targetIdleStep; //What the targetted step is
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volatile StepperStatus stepperStatus;
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volatile unsigned long stepStartTime; //The time the curren
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};
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
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#define IDLE_COUNTER TCNT4
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#define IDLE_COMPARE OCR4C
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#define IDLE_TIMER_ENABLE() TIMSK4 |= (1 << OCIE4C)
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#define IDLE_TIMER_DISABLE() TIMSK4 &= ~(1 << OCIE4C)
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#elif defined(CORE_TEENSY)
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#define IDLE_COUNTER FTM2_CNT
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#define IDLE_COMPARE FTM2_C0V
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#define IDLE_TIMER_ENABLE() FTM2_C0SC |= FTM_CSC_CHIE
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#define IDLE_TIMER_DISABLE() FTM2_C0SC &= ~FTM_CSC_CHIE
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#elif defined(CORE_STM32)
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//Placeholders only
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#define IDLE_COUNTER 0
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#define IDLE_COMPARE 0
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#define IDLE_TIMER_ENABLE()
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#define IDLE_TIMER_DISABLE()
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#endif
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struct table2D iacClosedLoopTable;
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struct table2D iacPWMTable;
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struct table2D iacStepTable;
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//Open loop tables specifically for cranking
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struct table2D iacCrankStepsTable;
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struct table2D iacCrankDutyTable;
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struct StepperIdle idleStepper;
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bool idleOn; //Simply tracks whether idle was on last time around
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byte idleInitComplete = 99; //TRacks which idle method was initialised. 99 is a method that will never exist
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unsigned int iacStepTime;
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unsigned int completedHomeSteps;
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volatile byte *idle_pin_port;
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volatile byte idle_pin_mask;
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volatile byte *idle2_pin_port;
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volatile byte idle2_pin_mask;
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volatile bool idle_pwm_state;
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unsigned int idle_pwm_max_count; //Used for variable PWM frequency
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volatile unsigned int idle_pwm_cur_value;
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long idle_pid_target_value;
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long idle_pwm_target_value;
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long idle_cl_target_rpm;
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byte idleCounter; //Used for tracking the number of calls to the idle control function
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void initialiseIdle();
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static inline void disableIdle();
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static inline void enableIdle();
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static inline byte isStepperHomed();
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static inline byte checkForStepping();
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static inline void doStep();
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#endif
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